Network-aware Shared Autonomy in Bilateral Teleoperation

Xiao Chen, Youssef Michel, Hamid Sadeghian, Sami Haddadin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, an autonomy allocation approach is proposed for bilateral teleoperation systems to improve user performance under suboptimal communication networks. To achieve this, time-varying communication quality metrics such as delay and jitter are continuously monitored on the teleoperated side, and the autonomy level is dynamically adjusted based on the communication network quality. An autonomous agent is also deployed on the teleoperated side, leveraging preexisting task knowledge for shared autonomy. Additionally, a time-domain passivity approach is employed to maintain communication channel passivity, mitigating the impact of adverse network behavior on task performance. The proposed approach is validated through extensive experiments and user studies, and the result shows our approach significantly improved the performance of the subjects (p< 0.01).

Original languageEnglish
Title of host publication2024 IEEE-RAS 23rd International Conference on Humanoid Robots, Humanoids 2024
PublisherIEEE Computer Society
Pages888-894
Number of pages7
ISBN (Electronic)9798350373578
DOIs
StatePublished - 2024
Event23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024 - Nancy, France
Duration: 22 Nov 202424 Nov 2024

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024
Country/TerritoryFrance
CityNancy
Period22/11/2424/11/24

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